Endoscope system, method for controlling endoscope system, and recording medium

Abstract

An endoscope system includes: an endoscope configured to acquire an image; and at least one processor including hardware. The at least one processor is configured to: acquire a distance from a treatment tool to target, acquire an operation state of the treatment tool, and determine a necessity for zooming in and zooming out on the basis of at least one of the distance and the operation state.

What is claimed is: 
     
         1 . An endoscope system comprising:
 an endoscope configured to acquire an image; and   at least one processor comprising hardware, the at least one processor being configured to:
 acquire a distance from a treatment tool to target; 
 acquire an operation state of the treatment tool; and 
 determine a necessity for zooming in and zooming out on the basis of at least one of the distance and the operation state. 
   
     
     
         2 . The endoscope system according to  claim 1 , the endoscope system further comprising an articulated robot arm configured to change one or more of a position and an orientation of the endoscope,
 wherein:
 when the determining determines that zooming in is necessary, perform zoom-in control to enlarge a size of a target in the image displayed on a display; and 
 when the determining determines that zooming out is necessary, perform zoom-out control to reduce the size of the target in the image displayed on the display. 
   
     
     
         3 . The endoscope system according to  claim 2 , wherein the zoom-in control and the zoom-out control are performed by controlling at least one of the position of the endoscope, an optical magnification of the endoscope, and a digital magnification of the image. 
     
     
         4 . The endoscope system according to  claim 2 , wherein the at least one processor is configured to perform the zoom-in control or the zoom-out control while keeping a specific point in the image present the image. 
     
     
         5 . The endoscope system according to  claim 1 , wherein the at least one processor is further configured to:
 determine a treatment phase on the basis of the image; and   determine the necessity for zooming in and zooming out by sequentially determining the distance and the operation state in accordance with the determined treatment phase.   
     
     
         6 . The endoscope system according to  claim 5 , wherein the at least one processor is further configured to:
 detect a type of the treatment tool in the image; and   determine the treatment phase on the basis of the type of the treatment tool.   
     
     
         7 . The endoscope system according to  claim 6 , wherein the at least one processor is further configured to detect the type of a predetermined target treatment tool in the image. 
     
     
         8 . The endoscope system according to  claim 6 , wherein, if the type of the treatment tool is a grasping forceps, the at least one processor is configured to determine that the treatment phase is a stretching phase. 
     
     
         9 . The endoscope system according to  claim 8 , wherein the operation state includes at least one of an open/closed state and a grasping state of the grasping forceps. 
     
     
         10 . The endoscope system according to  claim 6 , wherein, if the type of the treatment tool detected is one of an electric scalpel and an energy device, the at least one processor is configured to determine that the treatment phase is a peeling phase. 
     
     
         11 . The endoscope system according to  claim 10 , wherein the operation state includes at least one of an energization state, an open/closed state, and a grasping state of the electric scalpel or the energy device. 
     
     
         12 . The endoscope system according to  claim 1 , wherein the at least one processor is configured to determine that zooming in is necessary if the acquired distance is less than or equal to a predetermined threshold. 
     
     
         13 . The endoscope system according to  claim 2 , wherein the at least one processor is configured to end the zoom-in control when a magnification of the target in the image becomes higher than or equal to a predetermined first magnification. 
     
     
         14 . The endoscope system according to  claim 13 , wherein the at least one processor is configured to determine the magnification on the basis of the distance from the endoscope to the target. 
     
     
         15 . The endoscope system according to  claim 14 , wherein the at least one processor is configured to determine the magnification on the basis of the area of the treatment tool in the image. 
     
     
         16 . The endoscope system according to  claim 2 , wherein the at least one processor is configured to end the zoom-out control when a magnification of the target in the image becomes less than or equal to a predetermined second magnification. 
     
     
         17 . The endoscope system according to  claim 16 , wherein the at least one processor is configured to determine the magnification on the basis of the distance from the endoscope to the target. 
     
     
         18 . The endoscope system according to  claim 16 , wherein the at least one processor is configured to determine the magnification on the basis of the area of the target in the image. 
     
     
         19 . A method for controlling an endoscope system, the method comprising:
 determining whether the treatment tool is in an image acquired by an endoscope of the endoscope system;   acquiring a distance from a treatment tool to tissue;   acquiring an operation state of the treatment tool;   determining a necessity for zooming in and zooming out on the basis of at least one of the distance and the operation state;   when the determining determines that zooming in is necessary, performing zoom-in control to enlarge a size of a target in the image displayed on a display; and   when the determining determines that zooming out is necessary, performing zoom-out control to reduce the size of the target in the image displayed on the display.   
     
     
         20 . A non-transitory computer-readable recording medium storing a control program for causing a computer to perform the control method according to  claim 19 .